CN218947678U

CN218947678U - Neck structure of robot and robot

Info

Publication number: CN218947678U
Application number: CN202222872285.0U
Authority: CN
Inventors: 郭文平
Original assignee: Beijing Xiaomi Mobile Software Co Ltd
Current assignee: Beijing Xiaomi Robot Technology Co ltd
Priority date: 2022-10-28
Filing date: 2022-10-28
Publication date: 2023-05-02
Anticipated expiration: 2032-10-28

Abstract

The disclosure provides a neck structure of a robot and the robot, and belongs to the technical field of robots. The neck structure includes: the device comprises a head mounting seat, a base and a plurality of length-adjustable parts, wherein the length-adjustable parts are positioned between the head mounting seat and the base, the length-adjustable parts are circumferentially arranged, one ends of the length-adjustable parts are respectively connected with the head mounting seat in a rotating way, and the other ends of the length-adjustable parts are respectively connected with the base in a rotating way. Through set up a plurality of circumference range's length adjustable spare between head mount pad and base, change the length of a plurality of length adjustable spare, can change the relative position of head mount pad and base to realize the motion of head, simple structure. By changing the relative length between the adjustable members of different lengths, the head can be moved in multiple directions, and the flexibility of head movement is improved.

Description

Neck structure of robot and robot

Technical Field

The embodiment of the disclosure relates to the technical field of robots, in particular to a neck structure of a robot and the robot.

Background

With advances in robotics, the anthropomorphic pursuit of robots is also increasing, especially in terms of head movements.

The neck structure of the robot controls the head to realize the actions of head lifting, nodding, head shaking and the like. However, in the related art, the neck structure of the robot is not only complicated in structure, but also the head movement of the robot is not flexible enough.

Disclosure of Invention

The utility model provides a neck structure and robot of robot, simple structure to the flexibility ratio is high. The technical scheme at least comprises the following scheme:

in one aspect, embodiments of the present disclosure provide a neck structure of a robot, the neck structure comprising: the device comprises a head mounting seat, a base and a plurality of length-adjustable parts, wherein the length-adjustable parts are positioned between the head mounting seat and the base, the length-adjustable parts are circumferentially arranged, one ends of the length-adjustable parts are respectively connected with the head mounting seat in a rotating way, and the other ends of the length-adjustable parts are respectively connected with the base in a rotating way.

In some embodiments, the length adjustable member includes a length adjustable portion, a first rotational connection mechanism located at one end of the length adjustable portion and connected with the head mount, and a second rotational connection mechanism located at the other end of the length adjustable portion and connected with the base.

In some embodiments, the first rotary connection mechanism includes a first fixed member and a first movable member, the first fixed member is connected to one end of the length adjustable portion, and the first movable member is rotatably connected to the first fixed member and rotatably connected to the head mount.

In some embodiments, the first movable member includes a main body portion, a first pin and a second pin, where the first pin and the second pin are perpendicular to each other and are connected to the main body portion, the main body portion is rotationally connected to the first fixed member through the first pin, and the main body portion is rotationally connected to the head mount through the second pin.

In some embodiments, a plurality of first grooves are formed in a surface, close to the length-adjustable member, of the head mounting seat, the first grooves are circumferentially distributed, and the first movable members are respectively located in the first grooves.

In some embodiments, the head fixing device further comprises a plurality of first fixing plates, wherein the first fixing plates are positioned on one surface of the head mounting seat, provided with the first grooves, connected with the head mounting seat, at least one first fixing plate is arranged between the adjacent first grooves,

the head mount pad is close to the one side of first fixed plate has the second recess, just the second recess is located the both sides that the first recess is relative, the first fixed plate is close to the surface of head mount pad has the third recess, the second round pin axle is located first fixed plate with between the head mount pad, and be located the second recess with in the third recess.

In some embodiments, a plurality of fourth grooves are formed in a surface, close to the length-adjustable member, of the base, the fourth grooves are circumferentially distributed, and the second rotary connecting mechanisms are respectively located in the fourth grooves.

In some embodiments, the plurality of first grooves are distributed in a plurality of groups, each group including two adjacent first grooves, and the plurality of fourth grooves are distributed in a plurality of groups, each group including two adjacent fourth grooves;

when the lengths of the length-adjustable parts are the same, the orthographic projection of the first grooves on the base and the fourth grooves are mutually alternated.

In some embodiments, the spacing between two of the first grooves of each set is smaller than the spacing between two adjacent sets of the first grooves; the distance between two fourth grooves of each group is smaller than the distance between two adjacent fourth grooves.

In some embodiments, the length adjustable portion comprises one of a linear motor, an electric push rod, and a hydraulic cylinder.

In another aspect, embodiments of the present disclosure also provide a robot including the neck structure of the robot as described in the previous aspect.

The technical scheme provided by the embodiment of the disclosure has the beneficial effects that at least:

through set up a plurality of circumference range's length adjustable spare between head mount pad and base, change the length of a plurality of length adjustable spare, can change the relative position of head mount pad and base to realize the motion of head, simple structure. By changing the relative length between the adjustable members of different lengths, the head can be moved in multiple directions, and the flexibility of head movement is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.

Fig. 1 is a schematic view of a neck structure of a robot provided in an embodiment of the present disclosure;

FIG. 2 is an exploded view of a neck structure of a robot provided in an embodiment of the present disclosure;

FIG. 3 is a schematic structural view of a first movable member provided in an embodiment of the present disclosure;

FIG. 4 is a schematic structural view of a head mount provided by an embodiment of the present disclosure;

FIG. 5 is a schematic view of a base provided by an embodiment of the present disclosure;

fig. 6 is a schematic structural view of a robot according to an embodiment of the present disclosure.

The following description of the various reference numerals in the drawings:

1-a head mount; 11-a first groove; 111-a second groove;

12-a first fixing plate; 121-a third groove;

2-a base; 21-fourth grooves; 211-fifth grooves;

22-a second fixing plate; 221-sixth grooves;

3-a length adjustable member; 31-a length adjustable portion;

4-a first rotary connection; 41-a first fixing member; 411-fixing seat; 412-an ear plate;

42-a first movable member; 421-body portion; 4211-a first surface; 4212-a second surface; 4213-a third surface; 4214-fourth surface;

422-a first pin; 423-a second pin;

5-a second rotary connection; 51-a second fixing member; 52-a second movable member;

100-head; 200-neck structure.

Detailed Description

Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The terms "first," "second," "third," and the like in the description and in the claims, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Likewise, the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprising" or "comprises", and the like, is intended to mean that elements or items that are present in front of "comprising" or "comprising" are included in the word "comprising" or "comprising", and equivalents thereof, without excluding other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to denote relative positional relationships, which may also change accordingly when the absolute position of the object to be described changes.

For the purposes of clarity, technical solutions and advantages of the present disclosure, the following further details the embodiments of the present disclosure with reference to the accompanying drawings.

Fig. 1 is a schematic view of a neck structure of a robot according to an embodiment of the present disclosure, where the neck structure is used as a part of the robot, is installed between a head and a body of the robot, and serves to connect the head and the body, and can drive the head to move, for example, to perform actions such as head lifting, nodding, head shaking, and the like.

As shown in fig. 1, the neck structure includes: a head mount 1, a base 2 and a plurality of length adjustable members 3.

Wherein the head mount 1 is adapted to be coupled to a head of a robot, for example, the head of the robot may be integrally formed with the head mount 1 by screw connection to move together. The base 2 is intended to be connected to the body of a robot, for example, the base 2 may be connected to the torso of a humanoid robot.

The length-adjustable members 3 are located between the head mount 1 and the base 2, the length of each length-adjustable member 3 can be changed, the length-adjustable members 3 are circumferentially arranged, one ends (for example, the upper ends of the length-adjustable members 3 shown in fig. 1) of the length-adjustable members are respectively connected with the head mount 1 in a rotating manner, and the other ends (for example, the lower ends of the length-adjustable members 3 shown in fig. 1) of the length-adjustable members are respectively connected with the base 2 in a rotating manner.

According to the neck structure of the robot, the length-adjustable pieces 3 which are circumferentially arranged are arranged between the head mounting seat 1 and the base 2, the length of the length-adjustable pieces 3 is changed, and the relative positions of the head mounting seat 1 and the base 2 can be changed, so that head movement is achieved, and the structure is simple.

By changing the relative length between the different length adjustable members 3, the head can be moved in a plurality of directions, and the flexibility of the head movement can be improved. As an example, the neck structure shown in fig. 1 comprises 6 length adjustable members 3.

Fig. 2 is an exploded view of a neck structure of a robot according to an embodiment of the present disclosure. By way of example, fig. 2 shows only an exploded view of one length-adjustable element 3.

As shown in fig. 2, the length-adjustable member 3 includes a length-adjustable portion 31, a first rotary connection mechanism 4, and a second rotary connection mechanism 5, the first rotary connection mechanism 4 being located at one end of the length-adjustable portion 31 (e.g., the upper end of the length-adjustable portion 31 shown in fig. 2) and connected to the head mount 1, and the second rotary connection mechanism 5 being located at the other end of the length-adjustable portion 31 (e.g., the lower end of the length-adjustable portion 31 shown in fig. 2) and connected to the base 2.

The length-adjustable part 31 is rotationally connected with the head mounting seat 1 through the first rotary connecting mechanism 4, is rotationally connected with the base 2 through the second rotary connecting mechanism 5, and when the length of the length-adjustable part 31 is changed, the head mounting seat 1 can realize the movement of space multiple degrees of freedom.

Optionally, the length adjustable portion 31 includes one of a linear motor, an electric push rod, and a hydraulic cylinder.

The linear motor, the electric push rod and the hydraulic cylinder are all linear motion power sources, and the length of the length-adjustable part 31 can be conveniently adjusted, so that the head of the robot rotates along with the head mounting seat 1, and the actions of lifting, nodding, shaking and the like are realized.

As shown in fig. 2, the first rotary connection mechanism 4 includes a first fixed member 41 and a first movable member 42, the first fixed member 41 is connected to one end of the length adjustable portion 31 (for example, an upper end of the length adjustable portion 31 shown in fig. 2), and the first movable member 42 is rotatably connected to the first fixed member 41 and rotatably connected to the head mount 1.

As shown in fig. 2, the first fixing member 41 includes a fixing base 411 and an ear plate 412, the ear plate 412 is located at one end of the fixing base 411, the other end of the fixing base 411 is connected to one end of the length adjustable portion 31, and the ear plate 412 is rotatably connected to the first movable member 42.

In this embodiment, as shown in fig. 2, the ear plate 412 is located at the upper end of the fixing base 411, and the lower end of the fixing base 411 is connected to the upper end of the length adjustable portion 31.

By providing the ear plate 412, the first movable member 42 can be rotatably connected to the first fixed member 41. The first fixing member 41 is connected with the length adjustable portion 31 through the fixing seat 411, and is convenient to install and detach.

Illustratively, the first fixing member 41 and one end of the length-adjustable portion 31 may be connected by threaded connection, clamping connection, welding connection, or the like, so as to ensure a firm connection between the first fixing member 41 and the length-adjustable portion 31.

The first movable piece 42 is rotationally connected with the first fixed piece 41 and is rotationally connected with the head mounting seat 1, when the length of the length-adjustable portion 31 is changed, the first movable piece 42 can rotate relative to the first fixed piece 41 and the head mounting seat 1, and then the head mounting seat 1 is driven to rotate, so that the length change of the length-adjustable portion 31 is prevented from being blocked.

As shown in fig. 3, the first movable member 42 includes a main body 421, a first pin 422 and a second pin 423, and the first pin 422 and the second pin 423 are perpendicular to each other and are connected to the main body 421.

In this embodiment, as shown in fig. 3, the body 421 has a rectangular parallelepiped structure. In other examples, the body portion 421 may be other shapes, such as a cube, cylinder, etc.

As shown in fig. 3, the main body 421 has opposite first and

third surfaces

4211 and 4213, and opposite second and fourth surfaces 4212 and 4214, the first pin 422 vertically penetrates the second and fourth surfaces 4212 and 4214 of the main body 421, the second pin 423 vertically penetrates the first and

third surfaces

4211 and 4213 of the main body 421, and the first and

second pins

422 and 423 are located in different planes.

The arrangement in the above manner facilitates the connection of the first movable member 42 with the head mount 1 and the first fixed member 41, respectively.

As shown in fig. 2, the main body 421 is rotatably connected to the first fixing member 41 via a first pin 422, and the main body 421 is rotatably connected to the head mount 1 via a second pin 423.

The first movable member 42 corresponds to a cross universal joint, and the first pin shaft 422 and the second pin shaft 423 are perpendicular to each other, so that when the length of the length adjustable portion 31 changes, the head mounting seat 1 can deflect relative to the first pin shaft 422 and the second pin shaft 423, and the head can tilt in any direction.

The second rotary connection mechanism 5 includes a second fixed member 51 and a second movable member 52, the second fixed member 51 being connected to one end of the length adjustable portion 31 (for example, the lower end of the length adjustable portion 31 shown in fig. 2), the second movable member 52 being rotatably connected to the second fixed member 51 and rotatably connected to the base 2.

For example, the second fixing member 51 may be connected to one end of the length adjustable portion 31 by a threaded connection, a clamping connection, or a welding connection, so as to ensure a firm connection between the second fixing member 51 and the length adjustable portion 31.

The second fixing member 51 has the same structure as the first fixing member 41, and the second movable member 52 has the same structure as the first movable member 42, and will not be described herein.

As an example, as shown in fig. 2, a plurality of first grooves 11 are formed on a surface of the head mount 1 near the length-adjustable member 3, the plurality of first grooves 11 are circumferentially distributed, and a plurality of first movable members 42 are respectively located in the plurality of first grooves 11.

Through setting up first recess 11, can peg graft the second round pin axle 423 of first movable part 42 at the lateral wall of first recess 11, make first movable part 42 at least a portion be located first recess 11 to improve space utilization, reduce the volume of whole neck structure.

As shown in fig. 4, the neck structure further includes a plurality of first fixing plates 12, where the first fixing plates 12 are located on a surface of the head mount 1 where the first grooves 11 are provided, and are connected to the head mount 1, and at least one first fixing plate 12 is disposed between adjacent first grooves 11.

The surface of the head mounting seat 1, which is close to the first fixing plate 12, is provided with a second groove 111, the second groove 111 is positioned on two opposite sides of the first groove 11, the surface of the first fixing plate 12, which is close to the head mounting seat 1, is provided with a third groove 121, and the second pin shaft 423 is positioned between the first fixing plate 12 and the head mounting seat 1 and in the second groove 111 and the third groove 121.

The second recess 111 and the third recess 121 together form a mounting hole for placing the second pin 423. The first fixing plate 12 serves to fix the second pin 423 to the head mount 1 on one hand, and on the other hand, is so arranged as to be easily installed and removed. For example, the second pin 423 is placed in the second groove 111 during installation, and then the first fixing plate 12 is installed; when the first fixing plate 12 is detached, the second pin 423 can be taken out.

As shown in fig. 2, a plurality of fourth grooves 21 are formed in a surface of the base 2, which is close to the length-adjustable member 3, the fourth grooves 21 are circumferentially distributed, and the second rotary connecting mechanisms 5 are respectively located in the fourth grooves 21.

By providing the fourth recess 21 for mounting the second rotary connection mechanism 5, space utilization can be improved and the volume of the entire neck structure can be reduced.

The structure of the base 2 may be the same as that of the head mount 1. As shown in fig. 5, the neck structure further includes a plurality of second fixing plates 22, wherein the second fixing plates 22 are located on one surface of the base 2 provided with the fourth grooves 21, and are connected with the base 2, and at least one second fixing plate 22 is disposed between adjacent fourth grooves 21.

The surface of the base 2 close to the second fixing plate 22 is provided with a fifth groove 211, the fifth groove 211 is positioned on two opposite sides of the fourth groove 21, the surface of the second fixing plate 22 close to the base 2 is provided with a sixth groove 221, and a pin shaft connecting the second movable piece 52 with the base 2 is positioned between the base 2 and the second fixing plate 22 and in the fifth groove 211 and the sixth groove 221.

The fifth recess 211 and the sixth recess 221 together form a mounting hole for receiving a pin for connecting the second movable member 52 to the base 2. The second fixing plate 22 serves to fix the pin shaft connecting the second movable member 52 with the base 2 to the base 2 on the one hand, and on the other hand, is so arranged as to be convenient to mount and dismount.

As shown in connection with fig. 1 and 2, the plurality of first grooves 11 are distributed in groups, each group including two adjacent first grooves 11. The plurality of fourth grooves 21 are distributed in groups, each group including two adjacent fourth grooves 21.

When the lengths of the plurality of length-adjustable members 3 are the same, the front projections of the plurality of first grooves 11 on the base 2 alternate with the plurality of fourth grooves 21.

It should be noted that the direction of the front projection is the arrow direction shown in fig. 1, i.e., the direction perpendicular to the base 2.

In this embodiment, the head mount 1 is provided with six first grooves 11, the six first grooves 11 are divided into three groups, each group includes two adjacent first grooves 11, the base 2 is provided with six fourth grooves 21, the six fourth grooves 21 are divided into three groups, each group includes two adjacent fourth grooves 21.

As shown in fig. 1, when the lengths of the plurality of length-adjustable members 3 are the same, the front projections of the plurality of first grooves 11 on the base 2 alternate with the plurality of fourth grooves 21. The length-adjustable parts 3 are distributed obliquely, and two parts are distributed in a V shape. On the one hand, compared with the case that the length-adjustable members 3 are vertically arranged, that is, when the lengths of the length-adjustable members 3 are the same, the orthographic projection of the plurality of groups of first grooves 11 on the base 2 coincides with the plurality of groups of fourth grooves 21, the oblique distribution of the length-adjustable members 3 can reduce the height between the head mounting seat 1 and the base 2 and the overall height of the neck structure. On the other hand, the triangular structures are formed between the length-adjustable part 3 and the head mounting seat 1 and between the length-adjustable part 3 and the base 2, so that the neck structure is more stable.

Further, the interval between two first grooves 11 of each group is smaller than the interval between two adjacent first grooves 11; the spacing between two fourth grooves 21 of each group is smaller than the spacing between adjacent two fourth grooves 21 of each group.

This reduces the circumferential dimensions of the head mount 1 and base 2, thereby reducing the volume of the neck structure. In addition, the adjustment amplitude of the partial length adjusting piece 3 during head movement can be reduced, and the energy consumption is reduced.

On the other hand, the present embodiment also provides a robot including any one of the neck structures shown in fig. 1 to 4.

As an example, as shown in fig. 6, the robot includes a head 100 and a neck structure 200, the head 100 is connected to a head mount 1 of the neck structure 200, and the neck structure 200 is any one of the neck structures shown in fig. 1 to 5.

The foregoing description of the preferred embodiments of the present disclosure is not intended to limit the disclosure, but rather to enable any modification, equivalent switching, improvement or the like, which fall within the spirit and principles of the present disclosure.

Claims

1. A neck structure of a robot, comprising: the device comprises a head mounting seat (1), a base (2) and a plurality of length-adjustable parts (3), wherein the length-adjustable parts (3) are positioned between the head mounting seat (1) and the base (2), the length-adjustable parts (3) are circumferentially arranged, one ends of the length-adjustable parts are respectively connected with the head mounting seat (1) in a rotating mode, and the other ends of the length-adjustable parts are respectively connected with the base (2) in a rotating mode.

2. The neck structure of the robot according to claim 1, characterized in that the length adjustable member (3) comprises a length adjustable portion (31), a first rotary connection mechanism (4) and a second rotary connection mechanism (5), the first rotary connection mechanism (4) being located at one end of the length adjustable portion (31) and being connected with the head mount (1), the second rotary connection mechanism (5) being located at the other end of the length adjustable portion (31) and being connected with the base (2).

3. The neck structure of the robot according to claim 2, wherein the first rotary connection mechanism (4) includes a first fixed member (41) and a first movable member (42), the first fixed member (41) is connected to one end of the length adjustable portion (31), and the first movable member (42) is rotatably connected to the first fixed member (41) and rotatably connected to the head mount (1).

4. A neck structure of a robot according to claim 3, characterized in that the first movable part (42) comprises a main body part (421), a first pin (422) and a second pin (423), the first pin (422) and the second pin (423) are perpendicular to each other and are connected to the main body part (421), the main body part (421) is rotatably connected to the first fixed part (41) through the first pin (422), and the main body part (421) is rotatably connected to the head mount (1) through the second pin (423).

5. The neck structure of the robot according to claim 4, wherein a plurality of first grooves (11) are formed in a surface of the head mounting base (1) close to the length-adjustable member (3), the plurality of first grooves (11) are circumferentially distributed, and the plurality of first movable members (42) are respectively located in the plurality of first grooves (11).

6. The neck structure of a robot according to claim 5, further comprising a plurality of first fixing plates (12), wherein the first fixing plates (12) are positioned on one surface of the head mount (1) provided with the first grooves (11) and are connected with the head mount (1), at least one first fixing plate (12) is arranged between adjacent first grooves (11),

the head mount (1) is close to one side of first fixed plate (12) has second recess (111), just second recess (111) are located first recess (11) opposite both sides, first fixed plate (12) is close to the surface of head mount (1) has third recess (121), second round pin axle (423) are located between first fixed plate (12) and head mount (1), and be located second recess (111) with in third recess (121).

7. The neck structure of the robot according to claim 5 or 6, characterized in that a plurality of fourth grooves (21) are provided on a surface of the base (2) close to the length-adjustable member (3), the plurality of fourth grooves (21) are circumferentially distributed, and the plurality of second rotary connection mechanisms (5) are respectively located in the plurality of fourth grooves (21).

8. The neck structure of the robot according to claim 7, characterized in that a plurality of the first grooves (11) are distributed in groups, each group comprising two adjacent first grooves (11), a plurality of the fourth grooves (21) are distributed in groups, each group comprising two adjacent fourth grooves (21);

when the lengths of a plurality of length-adjustable pieces (3) are the same, the orthographic projection of a plurality of groups of first grooves (11) on the base (2) and a plurality of groups of fourth grooves (21) are mutually alternated.

9. A neck structure of a robot according to claim 8, characterized in that the spacing between two of said first grooves (11) of each group is smaller than the spacing between two adjacent groups of said first grooves (11); the spacing between two fourth grooves (21) of each group is smaller than the spacing between two adjacent fourth grooves (21).

10. The neck structure of the robot according to any one of claims 2 to 6 and 8 to 9, wherein the length adjustable portion (31) includes one of a linear motor, an electric push rod, and a hydraulic cylinder.

11. A robot comprising a neck structure of a robot according to any one of claims 1-10.